/*********************************************************************
*
* Software License Agreement (BSD License)
*
*  Copyright (c) 2010, Heriot-Watt University, UK.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Heriot-Watt University nor the names of
*     its contributors may be used to endorse or promote products
*     derived from this software without specific prior written
*     permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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*
*  Author: Joel Cartwright
*
*********************************************************************/

#include <matchmaker/service_query.h>

namespace matchmaker
{

// ------------------------------------------------------------
// Public methods
// ------------------------------------------------------------

ServiceQuery::ServiceQuery()
{

}


ServiceQuery::ServiceQuery(const ServiceQuery& rhs)
: impl_(rhs.impl_)
{

}


ServiceQuery::~ServiceQuery()
{

}


void ServiceQuery::shutdown()
{
  impl_.reset();
}


std::string ServiceQuery::getName() const
{
  if (!impl_) {
    ROS_WARN_STREAM("ServiceQuery::getName called on null query.");
    return std::string();
  }

  return impl_->name_;
}


ros::Time ServiceQuery::getResultsChangeTime() const
{
  if (!impl_) {
    ROS_WARN_STREAM("ServiceQuery::getResultsChangeTime called on null query.");
    return ros::Time();
  }

  return impl_->resultsChangeTime_;
}


const L_ServiceDetails* ServiceQuery::getResults() const
{
  if (!impl_) {
    ROS_WARN_STREAM("ServiceQuery::getResults called on null query.");
    return NULL;
  }

  return &impl_->results_;
}


// ------------------------------------------------------------
// Private methods
// ------------------------------------------------------------

ServiceQuery::Impl::Impl()
: creationTime_(ros::Time::now())
{

}


ServiceQuery::Impl::~Impl()
{

}


ServiceQuery::ServiceQuery(const std::string & serviceName,
    boost::function<void (const ServiceQuery& query)> callback)
: impl_(new Impl())
{
  impl_->name_ = serviceName;
  impl_->callback_ = callback;
}


void ServiceQuery::storeTimer(ros::Timer timer)
{
  if (!impl_) {
    ROS_WARN_STREAM("ServiceQuery::storeTimer called on null query.");
    return;
  }

  impl_->callbackTimer_ = timer;
}


void ServiceQuery::performCallback()
{
  if (!impl_) {
    ROS_WARN_STREAM("ServiceQuery::performCallback called on null query.");
    return;
  }

  ROS_DEBUG_STREAM("ServiceQuery::performCallback");

  impl_->callback_(*this);
}


ros::Time ServiceQuery::getCreationTime() const
{
  if (!impl_) {
    ROS_WARN_STREAM("ServiceQuery::getCreationTime called on null query.");
    return ros::Time();
  }

  return impl_->creationTime_;
}


void ServiceQuery::setResultsChangeTime(const ros::Time& time)
{
  if (!impl_) {
    ROS_WARN_STREAM("ServiceQuery::setResultsChangeTime called on null query.");
    return;
  }

  impl_->resultsChangeTime_ = time;
}

long int ServiceQuery::getNumCopies()
{
   if (!impl_) return 0;

   return impl_.use_count();
}


} // namespace
